Rolling motion generation of multi-points contact for a humanoid robot

The posture of a humanoid robot needs to be changed from lying state to others in order to complete required missions. With the rolling motion, it is possible for a humanoid robot to change lying state and adapt itself to the environmental uncertainties. The study of rolling motion for humanoid robots is fairly rare. This paper proposed a highly dynamic whole-body rolling motion. The planned rolling motion trajectories were based on the motion of human rolling, and meet the constraints of dynamic stability and multi-points contact conditions. The trajectory of the center of mass (CoM) and environmental constraints were calculated by dividing whole-body motion into upper and lower body movement. The effectiveness of proposed method was confirmed by dynamic simulation on a virtual humanoid robot.